NDLI: A Fabry-Perot interferometry based MRI-compatible miniature uniaxial force sensor for percutaneous needle placement

Content Provider	IEEE Xplore Digital Library
Author	Weijian Shang Hao Su Gang Li Furlong, C. Fischer, G.S.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., Worcester Polytech. Inst., Worcester, MA, USA (Weijian Shang; Hao Su; Gang Li; Furlong, C.; Fischer, G.S.)
Abstract	Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI scanner. The opto-electronic sensing system design was minimized to fit inside an MRI-compatible robot controller enclosure. A flexure mechanism was designed that integrates the FPI sensor fiber for measuring needle insertion force, and finite element analysis was performed for optimizing the correct force-deformation relationship. The compact, low-cost FPI sensing system was integrated into the robot and calibration was conducted. The root mean square (RMS) error of the calibration among the range of 0-10 Newton was 0.318 Newton comparing to the theoretical model which has been proven sufficient for robot control and teleoperation.
Starting Page	1
Ending Page	4
File Size	300762
Page Count	4
File Format	PDF
ISBN	9781467346429
ISSN	19300395
DOI	10.1109/ICSENS.2013.6688137
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Force Needles Optical sensors Magnetic resonance imaging Needle insertion Optical force sensor Fabry-Perot interferometer MRI compatible
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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